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Published byClay Bolding Modified over 10 years ago
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The Crazy Camera Killing Compadres John Berglund Randy Cuaycong Wes Day Andrew Fikes Kamran Shah Spring 1999 CPSC 483 Proposal
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Objective Develop an autonomous camera that can identify and track an object in motion
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Applications Sports Camera Operator Surveillance Population Control
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Goals Develop a motion tracking algorithm Implement an FPGA to camera interface Develop a camera platform Develop a memory system Implement the algorithm in hardware
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Motion Tracking Algorithm Initial development on PC –C++ with Microsoft Vision SDK Hardware implementation –Xilinx 4010E PC84 FPGA
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Environment Object smaller than its background Uncluttered background Rigid object High contrast Reasonable pace Object at a fixed distance
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Contrast Algorithm Use the rapidly changing grayscale values to identify the object Once the object is identified, locate the center of the object and adjust camera Only 1 frame required
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Subtraction w/ Pattern Matching 00000000 00000255 00000 00000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 000 00 000 00 000 00 00000000 00000000 00000000 00000-255 00000 000255 -255 0 000255 00 000 00 00000000 00000000
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Concentric Squares Approach Superimposed grid allows for reduction of problem Concentric squares act as motion “alarms” to quickly identify objects in motion 1234 57 16 12 8 91110 1415 6 13
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1-Dimensional Algorithm
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Benefits of 1-D Solution Reduced memory requirement –For a 160x120 pixel image with 8-bits per pixel grayscale: Reduced algorithm complexity 2-D1-D 160x120 x 8 153600 bits 160x16 + 120x15 3720 bits
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Xilinx XC4010E SRAM Horizontal and Vertical Servos Servo Control Motion Detection Hardware Camera Interface Camera System Diagram
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Motion Detection Hardware Receive and analyze pictures from the Camera Interface Send commands to the Camera Interface Send commands to the Servo Control subsystem
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Camera Interface Receive pictures and store them in SRAM Send commands to the QuickCam Emulate a parallel port Interface already defined by previous project team (NetCam)
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Servo Control Receive commands from Motion Detection Hardware Send commands to servos Use Pulse Width Modulation (PWM)
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Camera Platform Camera mount must pivot in two directions Servos must be mounted and adjusted Servo to FPGA interface must be refined from previous project
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Memory System System required to store and retrieve at least three images Will be implemented using SRAM Must interface SRAM with FPGA
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System Cost
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Team Responsibilities
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System Test Plain background Horizontal test –Ball rolling across the field of view Vertical test –Lowering a ball on string Accuracy test by stopping motion abruptly
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